Bab 2 Sistem Kontrol
Bab 2 Sistem Kontrol
G(s)
INPUT
R(s)
OUPUT
C(s)
C (s)
G ( s)
R( s)
X(s)
1
2
F(s) ms fs k
1.
= koefisien gesek
(s)
1
T(s)
Js f
eI = L.
e0 =
di
1
R.i i.dt
dt
c
1
i.dt
c
(1)
(2)
Transformasi Laplace :
1 EI(s) = Ls I(s) + R I(s) +
2 E0(s) =
1
I(s)
Cs
1
I(s) I(s) = C s E0(s)
Cs
21:
EI(s) = L C s2 E0(s) + R C E0(s) + E0(s)
EI(s) = C L C s2 + R (s +1) E0(s)
E (s)
1
0
2
E (s)
LCs RCs 1
i
(Buktikan !!!)
E (s)
RCs 1
i
(1)
1
e0 = C
i 2 .dt
.(3)
Transformasi Laplace :
1
3 E 0 (s) C s I 2 (s)
2
2
E (s)
R C R C s (R C R C R C )s 1
1
1 1 2 2
1 1
2 2
1 2
(s)
1
m
E (s)
R C s 1
i
1 1
(s)
1
m
E (s)
R C s 1
i
2 2
Transfer Function :
E (s)
E (s) E (s)
1
1
0
0
. m
.
E (s)
E (s) E (s)
R C s 1 R C s 1
i
m
i
2 2
1 1
X1(s)
G1(s)
1
2
R C R C s (R C R C )s 1
1 1 2 2
1 1
2 2
X2(s)
G2(s)
X3(s)
X1(s)
G1(s) G2(s)
X3(s)
X (s)
X (s)
G (s) 2
, G (s) 3
1
2
X (s)
X (s)
1
2
G(s)
X (s)
X (s) X (s)
3
2
. 3
G (s).G (s)
1
2
X (s)
X (s) X (s)
1
1
2
E (s)
1
1
0
(
)(K)(
)
E (s)
R C s 1
R C s 1
i
1 1
2 2
K
(R C s 1)(R C s 1)
1 1
2 2
C = A- B
B
c.
PERCABANGAN
R(s) = input
C(s) = output
G(s) = transfer function feedforward
H(s) = transfer function feedback
G(s)H(s) = transfer function open-loop
Transfer function closed-loop :
E(s) = R(s) B(s) .. (1)
B(s) = C(s) . H(s) . (2)
C(s) = E(s) . G(s) ..(3)
21 : E(s) = R(s) C(s).H(s) ..(4)
43 : C(s) = (R(s) C(s).H(s)) G(s)
C(s) + G(s)H(s)C(s) = G(s)R(s)
C(s)
G(s)
R(s)
1 G(s)H(s)
Contoh :
G (s)G (s)
C(s)
1
2
R(s)
1 G (s)G (s)H(s)
1
2
a. N(s) = 0
G (s)G (s)
C(s)
1
2
R(s)
1 G (s)G (s)H(s)
1
2
C(s)
G (s)G (s)
1
2
R(s)
1 G (s)G (s)H(s)
1
2
b. R(s) = 0
Atau
G (s)
C(s)
2
N(s)
1 G (s)G (s).H(s)
1
2
C(s)
G (s)
2
N(s)
1 G (s)G (s).H(s)
1
2
output total :
C(s)
G (s)G (s)
G (s)
1
2
2
R(s)
N(s)
1 G (s)G (s)H(s)
1 G (s)G (s)H(s)
1
2
1
2
EI = R.i +
E0 =
1
i.dt
C
1
i.dt
C
..
(1)
..
(2)
Transformasi Laplace :
1 EI(s) = RI(s) +
2 E0(s) =
21 :
1
I(s)
Cs
1
I(s)
Cs
EI(s) = RI(s) + E0(s)
RI(s) = EI(s) E0(s)
I(s) =
E (s) E (s)
i
0
R
E (s) E (s)
i
0
R
1
I(s)
Cs
E0(s)
E (s)
1/RCs
1
0
E (s)
1 1/RCs
1 RCs
i
1
Cs
I(s)
C(s)
u/ sistem yang mempunyai blok diagram sebagai berikut :
R(s)
Ra
= tahanan jangkar
La
= induktansi jangkar
ia
= arus jangkar
if
= arus medan
ea
= tegangan jangkar
eb
= emf terinduksi
= torsi
Persamaan Sistem :
di
a e
b
dt
(1)
ea = Ra.ia + La.
(2)
eb = K . n . = c . n = c .
(3)
T = KI . . Ia = cI . ia
(4)
.
J.
+f.=T
(s)
......?
E (s)
a
Transformasi Laplace :
(1) Ea(s) = Ia(s) [Ra + La . s] + Eb(s)
(2) Eb(s) = c . (s)
(3) T(s) = CI.Ia(s)
(4) T(s) = (s) [Js +f]
(1) Ia(s) [Ra + Las] = Ea(s) Eb(s)
C
(3) T(s) = cI . Ia(s)
(s) Eb(s)
(4) (s) =
T(s)
CI
T(s)
1
T(s)
Js f
(s)
1
Js f
(s)
1
E (s)
2 (L f R J)s (R f cc )
L
Js
a
a
a
a
a
1
A)
dh
q q C.sH(s) = QI(s) Q0(s)
i
0
dt
B)
Q (s)
0
......?
Q (s)
i
Tangki 2 :
h
2
R
2
q0 =
C2
Q0(s) =
H (s)
2
.(1)
R
2
dh
Tangki 1 :
h h
H (s) H (s)
2 Q (s) 1
2
1
.....(3)
m
m
R
R
1
1
dh
1 q q C sH (s) Q (s) Q (s)....(4)
C
1 dt
1
m
1 1
i
m
q
(1)
H2(s)
1
R
2
Q0(s)
Penggabungan :
R C s 1
Q (s)
2 2
i
1
2
R C R C s R C sR C s
1 1 2 2
1 1
2 1
1
2
R C R C s (R C R C R C )s 1
1 1 2 2
1 1
2 2
2 1
C(s)
G(s)
R(s)
G(s)
C(s)
(b)
y=a.x
a.b
x1
a
x3
ac
c
x4
x4
bc
x2
x2
DEFINISI
node (simpul)
transmittance / gain
x2, x3
mixed node
G1 G2 G3
Contoh :
1) G1 G2 G3 G4 G5
2) G1 G2 G6 G5
3) G4 G5 H3
2) G2 G3 H2
4) G2 G6 G5 H3 H2
TEORI MASON
C(s)
1
P P
R(s)
i i i
P
PI
1 L L L L L L ....
i
i j
i j k
i
i, j
i, j, k
LiLj = gain total dari dua buah lintasan tertutup yang tidak saling bersinggungan
LiLjLk = gain total dari tiga buah lintasan tertutup yang tidak saling bersinggungan
I
Contoh :
P1
= G1 G2 G3 G4 G5
P2
= G 1 G 2 G 5 G6
L1
= G1 G2 H1
L3 = G4 G5 H3
L2
= G2 G3 H2
L4 = G2 G5 G6 H2 H3
= 1 L1 L2 L3 L4 + L1 L3 + L2 L3
=1
=1
C(s)
P11 P2 2
P
R(s)
1 L1 L 2 L 3 L 4 L1L3 L 2 L 3
C(s)
R(s)
G1G 2 G 3G 4 G 5 G1G 2 G 5G 6
1 G1G 2 H1 G 2 G 3 H 2 G 4 G 5 H 3 G 2G 5G 6 H 2 H 3 G1G 2 G 4 G 5 H1H 3 G 2 G 3G 4 G 5 H 2 H 3
soal latihan :